Mobile Medical Robotic System

ABSTRACT

A medical robotic system comprises a drive track unit being operable for moving the medical robotic system along a floor. An upper torso unit is joined to the drive track unit. The upper torso unit comprises at least one actuator assembly. At least one bimanual dexterous manipulator is joined to the actuator assembly in which the actuator assembly imparts torque and movement to the bimanual dexterous manipulator for lifting an object. The bimanual dexterous manipulator comprises a pair of dexterous manipulators. Each of the dexterous manipulators comprises a length being configured to support lifting an adult patient, and an end comprising a planar structure being configured for placing between the adult patient and a patient platform. The drive track unit is operable for moving the medical robotic system to the patient platform and the bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present Utility patent application claims priority benefit of theU.S. provisional application for patent Ser. No. 61/518,096 filed on May2, 2011 under 35 U.S.C. 119(e). The contents of this related provisionalapplication are incorporated herein by reference for all purposes to theextent that such subject matter is not inconsistent herewith or limitinghereof.

FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

This patent is partially developed through US Army SBIR Phase II Projectunder Contract W81XWH-08-C-0002 with project title: An Advanced MedicalRobotic System Augmenting Healthcare Capabilities.

REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER LISTING APPENDIX

Not applicable.

COPYRIGHT NOTICE

A portion of the disclosure of this patent document contains materialthat is subject to copyright protection. The copyright owner has noobjection to the facsimile reproduction by anyone of the patent documentor patent disclosure as it appears in the Patent and Trademark Office,patent file or records, but otherwise reserves all copyright rightswhatsoever.

FIELD OF THE INVENTION

One or more embodiments of the invention generally relate to robots.More particularly, one or more embodiments of the invention relate tomedical robots.

BACKGROUND OF THE INVENTION

The following background information may present examples of specificaspects of the prior art (e.g., without limitation, approaches, facts,or common wisdom) that, while expected to be helpful to further educatethe reader as to additional aspects of the prior art, is not to beconstrued as limiting the present invention, or any embodiments thereof,to anything stated or implied therein or inferred thereupon.

The following is an example of a specific aspect in the prior art that,while expected to be helpful to further educate the reader as toadditional aspects of the prior art, is not to be construed as limitingthe present invention, or any embodiments thereof, to anything stated orimplied therein or inferred thereupon. By way of educational background,another aspect of the prior art generally useful to be aware of is thata robot is a mechanical or virtual intelligent agent that can performtasks automatically or with guidance, typically by remote control. Inpractice a robot is usually an electro-mechanical machine that iscontrolled by means of computer and electronic programming. By mimickinga lifelike appearance or automating movements, a robot may convey asense that it has intent or agency of its own. More importantly, a robotworking with nurse and supporting patient should be also have anintrinsically safe actuation and being able to cooperate with humansafely which is significantly different from those industrial robotsconstrained in a protected area.

Typically, a wide range of mechanical lifting and transfer solutionshave evolved to enable safe patient lifting and handling.

Typically, one can expect that the aging population will require greatermedical assistance, which may result in inadequate health services. Thehuman workforce does not have the same capacity to service the agingpopulation as a robotic device would. The time and effort needed aregreat.

In view of the foregoing, it is clear that these traditional techniquesare not perfect and leave room for more optimal approaches.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is illustrated by way of example, and not by wayof limitation, in the figures of the accompanying drawings and in whichlike reference numerals refer to similar elements and in which:

FIG. 1 illustrates an exemplary medical robotic system that displays aninterface and is positioned to lift an object, in accordance with anembodiment of the present invention;

FIGS. 2 a and 2 b illustrate an exemplary medical robotic systemperforming medical services for a patient, in accordance with anembodiment of the present invention, where FIG. 2 a illustrates medicalrobotic system displaying an interface to communicate with the patientin an exemplary position, and FIG. 2 b illustrates the medical roboticsystem utilizing a pair of dexterous manipulators to lift the patient inan exemplary position;

FIG. 3 a illustrates exemplary dexterous manipulator in an extendedposition, in accordance with an embodiment of the present invention;

FIG. 3 b illustrates a blow up view of an exemplary dexterousmanipulator in relation to medical robotic system, in accordance with anembodiment of the present invention;

FIG. 4 a illustrates a detailed perspective view of actuator assemblyencased inside an upper torso, in accordance with an embodiment of thepresent invention;

FIG. 4 b illustrates a blow up view of actuator assembly that powersbimanual dexterous manipulator, in accordance with an embodiment of thepresent invention;

FIG. 4 c illustrates a sectioned view of actuator assembly that movesthe bimanual dexterous manipulators, in accordance with an embodiment ofthe present invention;

FIGS. 4 d and 4 e illustrate an exemplary output shaft, where FIG. 4 dillustrates a blow up view of output shaft, and FIG. 4 e illustrates aside view of three separate sets of torsional springs positioned formodular design by removing or adding rods, in accordance with anembodiment of the present invention;

FIG. 5 illustrates an exemplary upper torso that attaches to dexterousmanipulator and receives an interface, in accordance with an embodimentof the present invention;

FIGS. 6 a and 6 b illustrates a detailed perspective view of anexemplary mobile platform that provides an enhanced stability with zeromoment point extender for the medical robotic system, in accordance withan embodiment of the present invention, where FIG. 6 a provides a mobileplatform for movement of the medical robotic system, and FIG. 6 bexpands to provide a wide base for stability for the medical roboticsystem; and

FIG. 7 illustrates an exemplary navigation control system on mobilemedical robotic system that traverses through a medical facility, inaccordance with an embodiment of the present invention.

Unless otherwise indicated illustrations in the figures are notnecessarily drawn to scale.

DETAILED DESCRIPTION OF SOME EMBODIMENTS

Embodiments of the present invention are best understood by reference tothe detailed figures and description set forth herein.

Embodiments of the invention are discussed below with reference to theFigures. However, those skilled in the art will readily appreciate thatthe detailed description given herein with respect to these figures isfor explanatory purposes as the invention extends beyond these limitedembodiments. For example, it should be appreciated that those skilled inthe art will, in light of the teachings of the present invention,recognize a multiplicity of alternate and suitable approaches, dependingupon the needs of the particular application, to implement thefunctionality of any given detail described herein, beyond theparticular implementation choices in the following embodiments describedand shown. That is, there are numerous modifications and variations ofthe invention that are too numerous to be listed but that all fit withinthe scope of the invention. Also, singular words should be read asplural and vice versa and masculine as feminine and vice versa, whereappropriate, and alternative embodiments do not necessarily imply thatthe two are mutually exclusive.

It is to be further understood that the present invention is not limitedto the particular methodology, compounds, materials, manufacturingtechniques, uses, and applications, described herein, as these may vary.It is also to be understood that the terminology used herein is used forthe purpose of describing particular embodiments only, and is notintended to limit the scope of the present invention. It must be notedthat as used herein and in the appended claims, the singular forms “a,”“an,” and “the” include the plural reference unless the context clearlydictates otherwise. Thus, for example, a reference to “an element” is areference to one or more elements and includes equivalents thereof knownto those skilled in the art. Similarly, for another example, a referenceto “a step” or “a means” is a reference to one or more steps or meansand may include sub-steps and subservient means. All conjunctions usedare to be understood in the most inclusive sense possible. Thus, theword “or” should be understood as having the definition of a logical“or” rather than that of a logical “exclusive or” unless the contextclearly necessitates otherwise. Structures described herein are to beunderstood also to refer to functional equivalents of such structures.Language that may be construed to express approximation should be sounderstood unless the context clearly dictates otherwise.

Unless defined otherwise, all technical and scientific terms used hereinhave the same meanings as commonly understood by one of ordinary skillin the art to which this invention belongs. Preferred methods,techniques, devices, and materials are described, although any methods,techniques, devices, or materials similar or equivalent to thosedescribed herein may be used in the practice or testing of the presentinvention. Structures described herein are to be understood also torefer to functional equivalents of such structures. The presentinvention will now be described in detail with reference to embodimentsthereof as illustrated in the accompanying drawings.

From reading the present disclosure, other variations and modificationswill be apparent to persons skilled in the art. Such variations andmodifications may involve equivalent and other features which arealready known in the art, and which may be used instead of or inaddition to features already described herein.

Although Claims have been formulated in this Application to particularcombinations of features, it should be understood that the scope of thedisclosure of the present invention also includes any novel feature orany novel combination of features disclosed herein either explicitly orimplicitly or any generalization thereof, whether or not it relates tothe same invention as presently claimed in any Claim and whether or notit mitigates any or all of the same technical problems as does thepresent invention.

Features which are described in the context of separate embodiments mayalso be provided in combination in a single embodiment. Conversely,various features which are, for brevity, described in the context of asingle embodiment, may also be provided separately or in any suitablesubcombination. The Applicants hereby give notice that new Claims may beformulated to such features and/or combinations of such features duringthe prosecution of the present Application or of any further Applicationderived therefrom.

References to “one embodiment,” “an embodiment,” “example embodiment,”“various embodiments,” etc., may indicate that the embodiment(s) of theinvention so described may include a particular feature, structure, orcharacteristic, but not every embodiment necessarily includes theparticular feature, structure, or characteristic. Further, repeated useof the phrase “in one embodiment,” or “in an exemplary embodiment,” donot necessarily refer to the same embodiment, although they may.

As is well known to those skilled in the art many careful considerationsand compromises typically must be made when designing for the optimalmanufacture of a commercial implementation any system, and inparticular, the embodiments of the present invention. A commercialimplementation in accordance with the spirit and teachings of thepresent invention may configured according to the needs of theparticular application, whereby any aspect(s), feature(s), function(s),result(s), component(s), approach(es), or step(s) of the teachingsrelated to any described embodiment of the present invention may besuitably omitted, included, adapted, mixed and matched, or improvedand/or optimized by those skilled in the art, using their average skillsand known techniques, to achieve the desired implementation thataddresses the needs of the particular application.

In the following description and claims, the terms “coupled” and“connected,” along with their derivatives, may be used. It should beunderstood that these terms are not intended as synonyms for each other.Rather, in particular embodiments, “connected” may be used to indicatethat two or more elements are in direct physical or electrical contactwith each other. “Coupled” may mean that two or more elements are indirect physical or electrical contact. However, “coupled” may also meanthat two or more elements are not in direct contact with each other, butyet still cooperate or interact with each other.

It is to be understood that any exact measurements/dimensions orparticular construction materials indicated herein are solely providedas examples of suitable configurations and are not intended to belimiting in any way. Depending on the needs of the particularapplication, those skilled in the art will readily recognize, in lightof the following teachings, a multiplicity of suitable alternativeimplementation details.

Those skilled in the art will readily recognize, in light of and inaccordance with the teachings of the present invention, that any of theforegoing steps and/or system modules may be suitably replaced,reordered, removed and additional steps and/or system modules may beinserted depending upon the needs of the particular application, andthat the systems of the foregoing embodiments may be implemented usingany of a wide variety of suitable processes and system modules, and isnot limited to any particular computer hardware, software, middleware,firmware, microcode and the like. For any method steps described in thepresent application that can be carried out on a computing machine, atypical computer system can, when appropriately configured or designed,serve as a computer system in which those aspects of the invention maybe embodied.

Those skilled in the art will readily recognize, in light of and inaccordance with the teachings of the present invention, that any of theforegoing steps may be suitably replaced, reordered, removed andadditional steps may be inserted depending upon the needs of theparticular application. Moreover, the prescribed method steps of theforegoing embodiments may be implemented using any physical and/orhardware system that those skilled in the art will readily know issuitable in light of the foregoing teachings. For any method stepsdescribed in the present application that can be carried out on acomputing machine, a typical computer system can, when appropriatelyconfigured or designed, serve as a computer system in which thoseaspects of the invention may be embodied.

FIGS. 1 through 7 illustrate some exemplary embodiments and variousviews of a medical robotic system 100 and numerous components of medicalrobotic system, in accordance with at least one embodiment of thepresent invention. One embodiment of the present invention may include arobotic system that services a patient 200 in a medical facility. Themedical robotic system may service patient, and traverse through themedical facility under direct or telepresence control by a medicalprofessional 210. Some embodiments of the present invention may have aholonomic drive system for easy maneuverability in a hospital setting,an intuitive interface for human-robot interaction, and dexterousmanipulation having sufficient strength to lift and move patients andheavy loads up to, but not limited to, 300 lbs. In some embodiments,medical robotic system may include numerous components that areintegrated together. Some of the major components may include, withoutlimitation, at least one bimanual dexterous manipulator 110, aninnovative humanoid upper torso 125, a drive track 130 with a stabilityenhancement device 132 and holonomic drive capabilities, a navigationcontrol system with 3D sensing and perception capability, an interface128 for human-robot interaction, and a highly integrated plan forhealthcare system integration.

FIG. 1 illustrates an exemplary mobile medical robotic system thatdisplays an interface and is positioned to lift an object, in accordancewith an embodiment of the present invention. In embodiment shown, themedical robotic system assists a medical professional with servicing thepatient's medical needs, reducing the medical professional's exposure toback pain from heavy lifting, entertaining the patient, moving heavyobjects, carrying medical supplies, acting as a conduit for remotemedical professionals, and inventory management. The medical roboticsystem may also provide numerous capabilities efficacious for servicingpatients in a medical facility, including but not limited to: a)navigating intelligently in hospital environments with a mobileholonomic drive track, b) supporting an intuitive interface guided byhuman-robot interaction, c) performing through direct control by ahealth professional through a telepresence operation, and d) providingdexterous manipulation and sufficient strength to lift/move patients andheavy loads. In alternative embodiment, the medical robotic system mayperform functions in a medical facility store house, such as, but notlimited to, stocking medication, discarding waste, and taking inventory.

FIGS. 2 a and 2 b illustrate an exemplary medical robotic systemperforming medical services for a patient, in accordance with anembodiment of the present invention, where FIG. 2 a illustrates medicalrobotic system displaying an interface to communicate with the patientin an exemplary position, and FIG. 2 b illustrates the medical roboticsystem utilizing a pair of dexterous manipulators to lift the patient inan exemplary position. In the embodiment shown, the medical roboticsystem may approach the patient in bed. The medical robotic system mayadjust the elevation of the torso so that the interface is at eye levelwith the patient. A drive train may raise or lower to adjust the heightof the torso. In the present embodiment, a medical professionalincluding, but not limited to, a doctor, nurse, and technician maycommunicate through visual and audio means to the patient. In onealternative embodiment, the medical professional may be remotely locatedfrom the medical facility. The patient may also write instructions andquestions on a touch screen positioned on the interface. In someembodiments, the medical professional may transmit instructions tomedical robotic system to approach and lift the patient. Medical roboticsystem may increase the base with a stability enhancement device on thedrive train to ensure secure control of patient. A pair of dexterousmanipulators may lift the patient with sufficient torque so that up to,but not limited to three hundred pounds may be lifted. In someembodiments, the dexterous manipulators may comprise of a fabricefficacious for providing sensitive contact with human skin.

FIG. 3 a illustrates exemplary dexterous manipulator in an extendedposition, in accordance with an embodiment of the present invention. Inthe embodiment shown, the dexterous manipulator may extend from an uppertorso and serve as an arm for lifting and manipulating an object,including, but not limited to a medical device, a container ofmedication, a writing utensil, and a container of food. In someembodiments, dexterous manipulator includes a planar extreme endsufficient for positioning between patient and a bed. Dexterousmanipulator may also include, without limitation, thermal sensors andvibration sensors to provide enhanced sensitivity. The dexterousmanipulator comprises sufficient strength to lift a heavy object andsufficient dexterity to manipulate sensitive medical devices. Anactuator assembly attached to dexterous manipulator provides sufficienttorque to lift a heavy object, including but not limited to, an adultpatient. In some embodiments, the dexterous manipulator may comprise ofa multiplicity of joints to provide enhanced mobility and grasping. Inone alternative embodiment, the medical robotic system may includesufficient dexterity and sensitivity to perform a surgical procedurewith dexterous manipulator.

In some embodiments, the dexterous manipulator may comprise of compliantactuator to better mimic the manipulation capabilities of human arms. Inone alternative embodiment, a compliant actuator provides a means offorce control and soft interaction with human for enhanced manipulation.Those skilled in the art, in light of the present teachings, recognizethat patient may feel more relaxed if the arm that encompasses dexterousmanipulator has tactile properties similar to the human arm.

FIG. 3 b illustrates a blow up view of an exemplary dexterousmanipulator in relation to medical robotic system, in accordance with anembodiment of the present invention. Dexterous manipulator extends fromupper torso, providing sufficient length to fully support an adultpatient. In one alternative embodiment, dexterous manipulator may detachfrom upper torso. An eclectic variety of dexterous manipulator extremeends (i.e., end-effector) may replace the original, including but notlimited to, with drills, magnets, human shaped hands, clamps, writingutensils, laser heads, or saws.

FIG. 4 a illustrates a detailed perspective view of actuator assemblyencased inside an upper torso, in accordance with an embodiment of thepresent invention. Such actuator assembly may be utilized in dexterousmanipulator to provide torque and movement for lifting a heavy object.In some embodiments, actuator assembly may be electrical and providemanipulator compliance, safety, flexibility and the strength to liftinga heavy patient. In the present embodiment, actuator assembly createssufficient power to lift heavy objects, and sufficient sensitivity toavoid harming patient, and sufficient dexterity to manipulate smaller,more delicate objects. In some embodiments, actuator assembly mayinclude characteristics that are, without limit, strong and reliable tomeet the demands of heavy lifting tasks; 2) inherently safe by limitingoutput force through use of compliance and force feedback actuation; 3)efficient to prolong battery life; 4) and compact and lightweight to beeasily handled. Those skilled in the art, in light of the presentteachings, will recognize that to ensure that medical robotic systemdoes not drop the object if a power failure occurs, actuator assemblymust be non-backdriveable. This requirement may be met by utilizing aworm drive gear and harmonic drive system.

FIG. 4 b illustrates a blow up view of actuator assembly that powersbimanual dexterous manipulator, in accordance with an embodiment of thepresent invention. In the present embodiment, actuator assembly maycomprise of a motor for transferring torque to a gear box. Actuatorassembly utilizes components of elastic materials and properties toprovide enhanced torque in a limited area. An output shaft drives themanipulator joint, and includes a multiplicity of torsional springs. Inthe present embodiment, torsional springs utilize urethane rods toprovide large torque in a small area. The urethane rods may bepositioned in matched grooves in the actuator assembly housing andoutput shaft. Relative angular motion between assembly housing andoutput shaft acts to deform the urethane, creating high torsional springrates in minimal space.

FIG. 4 c illustrates a sectioned view of actuator assembly that movesthe bimanual dexterous manipulators, in accordance with an embodiment ofthe present invention. In the embodiment shown, torso may include amodular structure composed of three actuator assemblies attached to eachother. Those skilled in the art will recognize that designing in thisway may simplify the manufacturing process and allow for quick and easyrepairs. Problematic actuators may be changed out quickly or rebuiltwith a minimal stock of spare components. The lower two actuatorassemblies that form a bicep from FIG. 3 a are connected by aninterlocking bracket at the rear. Attaching the third actuator at aright angle completes the 3-degree of freedom upper arm.

FIGS. 4 d and 4 e illustrate an exemplary output shaft, where FIG. 4 dillustrates a blow up view of output shaft, and FIG. 4 e illustrates aside view of three separate sets of torsional springs positioned inthree separate output shafts, in accordance with an embodiment of thepresent invention. In some embodiments, torsional springs work in unisonto provide sufficient torque. Those skilled in the art will recognizethat actuator assembly should be a self-contained actuator, capable ofcontinuous rotation.

FIG. 5 illustrates an exemplary upper torso that attaches to dexterousmanipulator and receives an interface, in accordance with an embodimentof the present invention. In the embodiment shown, upper torso mayresemble a human torso to increase functions and to comfort patient.Upper torso may be capable of advanced dexterous manipulation andpatient lifting, haptic feedback and natural human-robot interaction. Insome embodiments, upper torso may carry an interface for remotecommunication between health care professional and patient. In thepresent embodiment, a nurse may remotely interact with medical roboticsystem through a wireless system. The medical robotic system may includea receiver, and the remote health professional may have access to atransmitter.

In yet another embodiment, interface may provide a conduit for atelepresence for health care professional to perform numerous functions,including without limitation, remotely control medical robotic system,allow health care professional to view the scene from interface, providedata to customer, and communicate with patients. Those skilled in theart, in light of the present teachings, recognize that an advanced humanrobot interaction module is a key component of medical robotic system.An efficient human-robot interaction module that supports effectivedirect control and cooperative operation procedures. In a yet anotherembodiment, medical robotic system utilizes a direct human-robotinteraction system. The direct human-robot interaction system may adopta human-in-the-loop robot control scheme—either under direct commands orin telepresence operation. In some embodiments, the present inventionmay be used for nursing at hospitals as a nurse assistant or serves asremote service provider at nursing home.

FIGS. 6 a and 6 b illustrates a detailed perspective view of anexemplary robotic mobile platform that provides an enhanced stabilitywith zero moment point extender for the medical robotic system, inaccordance with an embodiment of the present invention, where FIG. 6 aprovides a mobile platform for movement of the medical robotic system,and FIG. 6 b expands to provide a wide base for stability for themedical robotic system. In the present embodiment, drive track providesa foundation for the medical robotic system. By expanding the dimensionsof drive track, a larger foundation for drive track creates increasedstability for medical robotic system. This may be beneficial forsupporting heavy objects. In yet another embodiment, robotic drive trackutilizes zero moment point control for enhanced stability. Zero momentpoint specifies a point with respect to a dynamic reaction force at thecontact of the drive train with the ground does not produce any momentin the horizontal direction, i.e. the point where total of verticalinertia and gravity forces equals zero. In the present embodiments, itis this point that may produce the greatest stability, and medicalrobotic system may intelligently recognize this point.

In some embodiments, robotic drive track may navigate intelligentlythrough a medical facility, including without limit tight spaces inproximity to a bed, with unique perceptive software and a holonomicdrive. Those skilled in the art, in light of the present teachings, willrecognize that a holonomic drive is useful for situations requiringhigher mobility and lower traction than a standard drive system. Theholonomic drive allows drive track to translate in any direction,independent of rotation. This movement may utilize, without limitation,omni-wheels or mecanum wheels.

FIG. 7 illustrates an exemplary navigation control system on mobilemedical robotic system that traverses through a medical facility, inaccordance with an embodiment of the present invention. In the presentembodiment, navigation control system may be remotely controlled byhealth care professional. Navigation control system utilizes intelligentsoftware for sensing, perception, obstacle avoidance, and semi autonomy.Those skilled in the art, in light of the present teachings, recognizethat high performance navigation control in a humanoid world like ahospital environment requires advanced sensory perception andintelligent control/decision to ensure system and operation safety.Specifically, the ability to detect a moving object in real-time iscrucial and unique to system safety.

In the present embodiment, nurse directs the anthropomorphic,omni-directional robot by moving the robot's compliant arms and applyingforces to the robot's hands to guide a robot during navigation around acluttered bed and placement of its arms underneath a patient.

In some alternative embodiments, medical robotic system may utilizespeech recognition software to recognize patient, or identify patient indistress. Medical robotic system may also speak to patient in a soothinghuman voice to alleviate trepidation from patient. In yet anotheralternative embodiment, dexterous manipulators perform patientmonitoring and medicine delivery through direction from a remote healthprofessional.

In some alternative embodiments, medical robotic system may be poweredby electric fully or partially, by pneumatic fully or partially, byhydraulic fully or partially or other power forms.

All the features or embodiment components disclosed in thisspecification, including any accompanying abstract and drawings, unlessexpressly stated otherwise, may be replaced by alternative features orcomponents serving the same, equivalent or similar purpose as known bythose skilled in the art to achieve the same, equivalent, suitable, orsimilar results by such alternative feature(s) or component(s) providinga similar function by virtue of their having known suitable propertiesfor the intended purpose. Thus, unless expressly stated otherwise, eachfeature disclosed is one example only of a generic series of equivalent,or suitable, or similar features known or knowable to those skilled inthe art without requiring undue experimentation.

Having fully described at least one embodiment of the present invention,other equivalent or alternative methods of implementing medical servicesto patients in a health care facility through a medical robot accordingto the present invention will be apparent to those skilled in the art.Various aspects of the invention have been described above by way ofillustration, and the specific embodiments disclosed are not intended tolimit the invention to the particular forms disclosed. The particularimplementation of the medical robotic system may vary depending upon theparticular context or application. By way of example, and notlimitation, the medical robotic system described in the foregoing wereprincipally directed to assisting a nurse by lifting the patient,communicating with the patient through telepresence interface, andmaneuvering through a medical facility; however, similar techniques mayinstead be applied to a military robotic system for assisting soldiersin a battle scenario, which implementations of the present invention arecontemplated as within the scope of the present invention. The inventionis thus to cover all modifications, equivalents, and alternativesfalling within the spirit and scope of the following claims. It is to befurther understood that not all of the disclosed embodiments in theforegoing specification will necessarily satisfy or achieve each of theobjects, advantages, or improvements described in the foregoingspecification.

Claim elements and steps herein may have been numbered and/or letteredsolely as an aid in readability and understanding. Any such numberingand lettering in itself is not intended to and should not be taken toindicate the ordering of elements and/or steps in the claims.

1. A medical robotic system comprising: a drive track unit beingoperable for moving the medical robotic system along a floor; an uppertorso unit being joined to said drive track unit, said upper torso unitcomprising at least one actuator assembly; and at least one bimanualdexterous manipulator being joined to said actuator assembly in whichsaid actuator assembly imparts torque and movement to said bimanualdexterous manipulator for lifting an object, said bimanual dexterousmanipulator comprising a pair of dexterous manipulators, each of saiddexterous manipulators comprising a plurality of joints, a length beingconfigured to support lifting an adult patient, and an extreme endcomprising a planar structure being configured for placing between theadult patient and a patient platform, in which said drive track unit isoperable for moving the medical robotic system to the patient platformand said bimanual dexterous manipulator is operable for lifting theadult patient from the patient platform.
 2. The medical robotic systemas recited in claim 1, further comprising a stability device beingjoined to said drive track unit, said stability device being configuredto increase dimensions of said drive track unit to increase stability ofthe medical robotic system while lifting objects.
 3. The medical roboticsystem as recited in claim 2, in which said stability device isretractable within said drive track unit.
 4. The medical robotic systemas recited in claim 2, in which said stability device further comprisesa plurality of wheels or supporting legs.
 5. The medical robotic systemas recited in claim 1, in which said drive track unit is furtherconfigured to be holonomic.
 6. The medical robotic system as recited inclaim 5, in which said drive track unit further comprises a plurality ofmecanum wheels.
 7. The medical robotic system as recited in claim 1, inwhich said drive track unit utilizes zero moment point methodology forenhanced stability.
 8. The medical robotic system as recited in claim 1,further comprising an interface for remote communication between ahealth care professional and the adult patient.
 9. The medical roboticsystem as recited in claim 8, in which said interface is joined to saidupper torso unit.
 10. The medical robotic system as recited in claim 9,further comprising means for adjusting a height of said upper torso unitto place said interface at eye level with the adult patient on thepatient platform.
 11. The medical robotic system as recited in claim 1,in which said extreme end is configured to be removable and replaced byanother extreme end comprising a different structure.
 12. The medicalrobotic system as recited in claim 1, said bimanual dexterousmanipulator further comprises a fabric efficacious for providingsensitive contact with human skin.
 13. The medical robotic system asrecited in claim 1, in which said actuator assembly further compriseselastic materials to produce high torsional spring rates in a minimalspace.
 14. The medical robotic system as recited in claim 1, in whichsaid upper torso is further configured to resemble a human torso.
 15. Amedical robotic system comprising: means for moving the medical roboticsystem along a floor; means, being joined to said moving means, forimparting torque and movement; and means, receiving said torque andmovement, being configured for lifting an adult patient from a patientplatform, in which said moving means is operable for moving the medicalrobotic system to the patient platform and said lifting means isoperable for lifting the adult patient from the patient platform. 16.The medical robotic system as recited in claim 15, further comprisingmeans, being joined to said moving means, for increasing stability ofthe medical robotic system while lifting objects.
 17. The medicalrobotic system as recited in claim 15, further comprising means forremote communicating between a health care professional and the adultpatient.
 18. The medical robotic system as recited in claim 17, furthercomprising means for adjusting a height of said communicating means tobe at eye level with the adult patient on the patient platform.
 19. Amedical robotic system comprising: a drive track unit being operable formoving the medical robotic system along a floor, said drive track unitbeing configured to be holonomic and comprising a plurality of mecanumwheels, said drive track unit utilizing zero moment point mechanism forenhanced stability of the medical robotic system; an upper torso unitbeing joined to said drive track unit, said upper torso unit comprisingat least one actuator assembly, said actuator assembly comprisingelastic materials to produce high torsional spring rates in a minimalspace; at least one bimanual dexterous manipulator being joined to saidactuator assembly in which said actuator assembly imparts torque andmovement to said bimanual dexterous manipulator for lifting an object,said bimanual dexterous manipulator comprising a pair of dexterousmanipulators, each of said dexterous manipulators comprising a fabricefficacious for providing sensitive contact with human skin, a pluralityof joints, a length being configured to support lifting an adultpatient, and an extreme end comprising a planar structure beingconfigured for placing between the adult patient and a patient platform,said extreme end being configured to be removable and replaced byanother extreme end comprising a different structure; an interface forremote communication between a health care professional and the adultpatient, said interface being joined to said upper torso unit; means foradjusting a height of said upper torso unit to place said interface ateye level with the adult patient on the patient platform; and astability device being retractably joined to said drive track unit, saidstability device comprising a plurality of wheels and being configuredto increase dimensions of said drive track unit to increase stability ofthe medical robotic system while lifting, in which said drive track unitis operable for moving the medical robotic system to the patientplatform and said bimanual dexterous manipulator is operable for liftingthe adult patient from the patient platform.
 20. The medical roboticsystem as recited in claim 19, in which said upper torso is furtherconfigured to resemble a human torso.